Mechatronics Principles and Applications, Thesis of Mechatronics

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Mechatronics

Principles and Applications

Mechatronics

Principles and Applications

Godfrey C. Onwubolu

Professor of Engineering

The University of the South Pacific, Fiji

AMSTERDAM  BOSTON  HEIDELBERG  LONDON  NEW YORK  OXFORD PARIS  SAN DIEGO  SAN FRANCISCO  SINGAPORE  SYDNEY  TOKYO

Elsevier Butterworth-Heinemann Linacre House, Jordan Hill, Oxford OX2 8DP 30 Corporate Drive, Burlington, MA 01803

First published 2005

Copyright ß 2005, Godfrey C. Onwubolu. All rights reserved

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Preface

Introduction

With the advent of integrated circuits and computers, the borders of formal engineering disciplines of electronic and mechanical engineering have become fluid and fuzzy. Most products in the marketplace are made up of interdependent electronic and mechanical components, and electronic/electrical engineers find themselves working in organizations that are involved in both mechanical and electronic or electrical activities; the same is true of many mechanical engineers. The field of mechatronics offers engineers the expertise needed to face these new challenges. Mechatronics is defined as the synergistic combination of precision mechan- ical, electronic, control, and systems engineering, in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. Mechatronics responds to industry’s increasing demand for engineers who are able to work across the boundaries of narrow engineering disciplines to identify and use the proper combination of technologies for optimum solutions to today’s increasingly challenging engineering problems. Understanding the synergy between disciplines makes students of engineering better commu- nicators who are able to work in cross-disciplines and lead design teams which may consist of specialist engineers as well as generalists. Mechatronics covers a wide range of application areas including consumer product design, instrumentation, manufacturing methods, motion control systems, computer integration, process and device control, integration of functionality with embedded microprocessor control, and the design of machines, devices and systems possessing a degree of computer-based intelligence. Robotic manipulators, aircraft simulators, electronic traction control systems, adaptive suspensions, landing gears, air-conditioners under fuzzy logic control, automated diagnostic systems, micro electromechanical systems (MEMS), consumer products such as VCRs, driver-less vehicles are all examples of mechatronic systems. These systems depend on the integration of mechanical, control, and computer systems in order to meet demanding specifications, introduce ‘intelligence’ in mechanical hardware, add versatility and maintainability, and reduce cost. Competitiveness requires devices or processes that are increasingly reliable, versatile, accurate, feature-rich, and at the same time inexpensive. These objectives

xiii

circuits treated in this book. Chapter 12 deals with the modeling aspect of control theory, which is of considerable importance in mechatronic systems. Chapter 13 presents the analysis aspect of control theory, while Chapter 14 deals with graphical techniques in control theory. Chapter 15 presents robotic system fundamentals, which is an important area in mechatronics. Chapter 16 presents electronic fabrication process, which those working with mechatronic systems should be familiar with. Chapter 17 deals with reliability in mechatronic systems; a topic often neglected in mechatronics textbooks. Finally Chapter 18 presents some case studies. The design process and the design of machine elements are important aspects of mechatronics. While a separate chapter is not devoted to these important areas, which are important in designing mechatronic systems, the appendices present substantial information on design principles and mechanical actuation systems design and analysis.

Additional features and supplements

Specific and practical information on mechatronic systems that the author has been involved in designing are given throughout the book, and a chapter has been devoted to hands-on practical guides to interfacing microcontrollers and external actuators, which is fundamental to a mechatronic system.

End-of chapter problems

All end-of-chapter problems have been tested as tutorials in the classroom at the University of the South Pacific. A fully worked Solutions Manual is available for adopting instructors.

Online supplements to the text

For the student:

& (^) Many of the exercises can be solved using MATLABÕ^ and designs simulated using SimulinkÕ^ (both from MathWorks Inc.). Copies of MATLABÕ^ code used to solve the chapter exercises can be downloaded from the companion website http://books.elsevier.com/companions.

For the instructor:

& (^) An Instructor’s Solutions Manual is available for adopting tutors. This provides complete worked solutions to the problems set at the end of each

Preface xv

chapter. To access this material please go to http://textbooks.elsevier.com and follow the instructions on screen. & (^) Electronic versions of the figures presented are available for adopting lecturers to download for use as part of their lecture presentations. The material remains copyright of the author and may be used, with full reference to their source, only as part of lecture slides or handout notes. They may not be used in any other way without the permission of the publisher.

xvi Preface

also like to thank the copy-editor, Alex Sharpe, and also Miranda Turner and Renata Corbani of Elsevier. I acknowledge the contributions of the reviewers of the initial proposal of this book. Their suggestions greatly improved the book and gave me insight into inclusion of topics which have significantly improved it. This development and writing of the book has taken much more of my time than my other books. The effect of this was that my family had to bear with my long times at work and little time to spend with them. Their patience and forbearance, which made it possible for me to commence, continue and conclude this book, is greatly appreciated. My sincere thanks to my wife, Ngozi, and our children: Chioma, Chineye, Chukujindu, Chinwe, and Chinedu. I owe God much appreciation for His immense providence and I dedicate this book to Him.

Godfrey C. Onwubolu May 2004

xviii Acknowledgments

C H A P T E R 1

Introduction to mechatronics

Chapter objectives

When you have finished this chapter you should be able to:

& (^) trace the origin of mechatronics; & (^) understand the key elements of mechatronics systems; & (^) relate with everyday examples of mechatronics systems; & (^) appreciate how mechatronics integrates knowledge from different disci- plines in order to realize engineering and consumer products that are useful in everyday life.

1.1 Historical perspective

Advances in microchip and computer technology have bridged the gap between traditional electronic, control and mechanical engineering. Mechatronics responds to industry’s increasing demand for engineers who are able to work across the discipline boundaries of electronic, control and mechanical engineering to identify and use the proper combination of technologies for optimum solutions to today’s increasingly challenging engineering problems. All around us, we can find mechatronic products. Mechatronics covers a wide range of application areas including consumer product design, instrumentation, manufacturing methods, motion control systems, computer integration, process and device control, integration of functionality with embedded microprocessor control, and the design of machines, devices and systems possessing a degree of computer-based intelligence. Robotic manipulators, aircraft simulators, electronic traction control systems, adaptive suspensions, landing gears, air conditioners under fuzzy logic control, automated diagnostic systems, micro electromechanical systems (MEMS),